可重构机器人构形平面的工作空间研究

摘要

When the matching configuration plane is used to solve the kinematics of a reconfigurable modular robot, the working space solution of the configuration plane is the key issue. Therefore, a representation method of the working space based on a configuration plane was presented. First, the kinematics models of the reconfiguration robot's basic modules were set up, and the work configuration of a reconfigurable modular robot was differentiated according to the kinematics models of basic modules and the rule of configuration plane partition. Then a quick and relatively simple working space representation method was found by studying the working space of the representative configuration plane. The effectiveness and the feasibility of the working space representation method was verified by practical experiments.%采用构形平面匹配的方法进行可重构机器人运动学求解时,构形平面的工作空间求解是一个关键问题.为此,提出了一种基于构形平面的工作空间表示方法.首先建立可重构机器人基本模块的运动学模型,根据基本模块的运动学模型按照构形平面划分规则划分可重构机器人工作构形,然后研究典型构形平面的工作空间,找到快速、相对简洁的工作空间表示方法.最后,通过实例进行验证工作空间表示方法的有效性和可行性.